JP4858045B2 - Plate receiving method and plate receiving apparatus - Google Patents

Description

The present invention relates to a method and an apparatus for receiving, delivering, and transporting a plate-like object having a rectangular shape, rigidity, and a plane direction that is bent by its own weight as a horizontal direction. Use a tray for transportation or storage that holds the plate-like object in a bent state with the surface direction set to the horizontal direction, and is used for transportation or storage with a plurality of the plate-like objects placed on top of each other. The present invention relates to a method and an apparatus for receiving and delivering a plate-like object.
Various plate-like materials or members for flat display panels that bend due to their own weight, or plate-like materials such as metals, rare metals, silicon, etc., and plate-like treatment members that have been processed on them, as plate-like materials This is particularly effective when mounted on a tray.

It is important to transport and store a plate-like object having a functional layer on its surface such as a flat panel such as a plasma display panel or a liquid crystal display panel without damaging or contaminating the functional layer on the surface.
Conventionally, when storing and transporting such plate-shaped objects, box-shaped storage containers that can be stored in parallel at predetermined intervals so that the surfaces do not contact each other are used to protect the surface of the plate-shaped objects from scratches and damage. It was. For example, Japanese Unexamined Patent Application Publication No. 2004-59116 (Patent Document 1) discloses a display that efficiently transports and stores a large number of display substrates in a limited space without the display substrates contacting each other. A substrate storage tray is described.
JP 2004-59116 A

Under these circumstances, in particular, for flat panels for liquid crystal displays, it has been required to produce larger-sized color filter-formed substrates, and transportation costs due to further improved transportation efficiency for transportation and storage. There is a need for saving and space saving.
However, in the transport using the storage container as described above, it is very difficult to reduce the thickness because the plate-like object is likely to jump due to vibration during transportation and cracks and scratches are likely to occur.
In addition, if the peripheral part of the plate-like object is pressed from the top in order to eliminate the splash of the plate-like object, dust adhesion and scratches occur near the end face of the plate-like object, and the plate having a functional layer on the surface In the case of a shape, there is a problem that the quality is deteriorated.

For this reason, the applicant of the present application uses a tray that holds the plate-like object placed on the upper side of the rectangular and rigid plate-like object in the horizontal direction, and the plate-like object is placed thereon. Japanese Patent Application No. 2006-207592 (Patent Document 2) proposes a tray for transportation or storage that is used for transportation or storage in a state where a plurality of sheets are stacked.
Japanese Patent Application No. 2006-207592 When such a tray is used to receive a plate-like object from the tray by pin support, conventionally, the unpacking operation of the plate-like object from the transport tray has been performed once by temporarily holding the plate-like object horizontally. It was placed on the support pin and transferred to another device by a robot. However, when receiving the plate-shaped object between the tray and the support pin, the back surface of the plate-shaped object is damaged or soiled, resulting in a problem of quality deterioration.

As described above, recently, a color filter forming substrate for a display panel is required to be manufactured in a larger size, and a color filter forming substrate for a display panel or a color filter forming substrate for producing the color filter forming substrate is required. For transportation and storage of intermediate process substrates, further reduction in transportation cost by improving transportation efficiency and space saving of storage space are required, and the plane direction of a rectangular and rigid plate-like object is horizontal. As a tray for holding and holding the plate-like object on the upper side, and a tray for carrying or storing that is used for carrying or storing a plurality of the plate-like objects in a stacked state is used. However, when such a tray is used to receive a plate-like object from the tray by pin support, the contact portion between the plate-like object and the support pin causes the back surface of the plate-like object to be received. There are scratches or dirt, this has become a worse cause of quality, this correspondence has been demanded.
The present invention corresponds to this, and is a tray that holds the plate-like object placed on the upper side thereof with the surface direction of the rectangular and rigid plate-like substance as the horizontal direction, and the plate-like object is When receiving a plate-like object from a tray by using a tray for conveyance or storage, which is used for conveyance or storage in a stacked state in a mounted state, the contact portion between the plate-like object and the support pin Accordingly, the present invention is intended to provide a plate-shaped object receiving method and a plate-shaped object receiving apparatus that do not cause damage or contamination of the back surface of the plate-shaped object.

The plate-like object receiving method of the present invention is a rectangular shape that is rigid and holds a plate-like object that is bent by its own weight on the upper side in a predetermined bent state with the surface direction as a horizontal direction. A method of receiving a plate-like object by using a tray and taking out the plate-like object held in the tray from the tray. With the upper end of each pin of the pin positioned at a height corresponding to the bending state of the plate-like object, the plurality of pins and the tray are moved relative to each other at least one of the pins in the vertical direction. Each of the pins is brought into contact with the plate-like object held on the tray to support the plate-like object, or close to it to support the plate-like object in a non-contact manner, and the plate-like object is bent to the predetermined deflection. While keeping the plate open, move the plate away from the tray. Receiving at and is characterized in.
And it is a receiving method of said plate-shaped object, Comprising: The said several pin has a pin which moves by carrying out position control to a perpendicular direction according to the bending state of a plate-shaped object, It is characterized by the above-mentioned. It is.
In addition, in any one of the above plate-shaped object receiving methods, the plurality of pins include pins that move while controlling the position in the horizontal direction in accordance with the bending state of the plate-shaped object. It is what.
Also, in any one of the above plate-shaped object receiving methods, the plurality of pins are all in contact with each other to support and receive the plate-shaped object, and at least some of the tip portions of the pins are plate-shaped objects. And a movable part that is movable in the surface direction of the plate-like object when contacting with the movable part, wherein the movable part is a rotating ball that is supported by a ball bearing and rotates. It is a feature.
Moreover, in the above, the material of the surface part of the said movable part is a thermoplastic resin, It is characterized by the above-mentioned.
Alternatively, in any one of the above plate-shaped object receiving methods, at least a part of the plurality of pins receives and supports a plate-shaped object in a non-contact manner, and the tip of the at least some of the pins The part is characterized in that the plate-like object is pushed up by gas pressure and supported in a state of being close to the plate-like object by non-contact.
The method for receiving a plate-like material according to any one of the above, wherein the plate-like material is a color filter forming substrate for a display panel or an intermediate process substrate for producing the color filter forming substrate. It is characterized by being.

The plate-shaped object receiving apparatus of the present invention is rectangular and rigid, and holds a plate-shaped object that is bent by its own weight on the upper side in a predetermined bent state with the surface direction as a horizontal direction. A plate-shaped object receiving device that uses a tray to take out a plate-shaped object held on the tray from a tray that holds the plate-shaped object on the upper side. With the upper end of each pin of the pin positioned at a height corresponding to the bending state of the plate-like object, the plurality of pins and the tray are moved relative to each other at least one of the pins in the vertical direction. Each of the pins is brought into contact with the plate-like object held on the tray to support the plate-like object, or close to it to support the plate-like object in a non-contact manner, and the plate-like object is bent to the predetermined deflection. Hold the plate in place and take it away from the tray Movable in the vertical direction, the height of each tip can be position control, arranged in the vertical direction, and is characterized in that it comprises a plurality of pins.
In the plate-shaped object receiving apparatus, the plurality of pins include pins that move by controlling the position in the vertical direction in accordance with the bending state of the plate-shaped object. is there.
In addition, in any one of the plate-shaped object receiving devices, the plurality of pins include pins that move while controlling the position in the horizontal direction in accordance with the bending state of the plate-shaped object. It is what.
Further, in any one of the above plate-shaped object receiving devices, each of the plurality of pins receives and supports the plate-shaped object, and at least a part of the tip portion of the pin has a plate-shaped object. And a movable part that is movable in the surface direction of the plate-like object when contacting with the movable part, wherein the movable part is a rotating ball that is supported by a ball bearing and rotates. It is a feature.
Moreover, in the above, the material of the surface part of the said movable part is a thermoplastic resin, It is characterized by the above-mentioned.
Alternatively, in any one of the above plate-shaped object receiving devices, at least a part of the plurality of pins is configured to support and receive the plate-shaped object in a non-contact manner, and the tip of the at least some of the pins The part is characterized in that the plate-like object is pushed up by gas pressure and supported in a state of being close to the plate-like object by non-contact.
Further, any one of the above plate-shaped object receiving devices, wherein the plate-shaped object is a color filter forming substrate for a display panel or an intermediate process substrate for producing the color filter forming substrate. It is a feature.
Also, in any one of the above plate-shaped object receiving devices, the tray is placed on the upper side of the plate-shaped object, with the surface direction of the rectangular and rigid plate-shaped object being set as the horizontal direction. The tray is a tray for transportation or storage that is used for transportation or storage by stacking a plurality of the plate-like objects on the tray.
In addition, in the above, the tray is a base material that supports the whole, and a frame inner region is supported by the frame portion whose frame inner region is larger than the plate-like object, and in the frame inner region of the frame portion, A plate-like object holding part that holds the plate-like object from the lower side in a state where the plate-like object is bent downward in the vertical direction, and the plate-like object holding part is opposed to one of the four sides of the frame part. The two ends of the plate-like object are supported along two sides, and the plate-like object is supported by bending downward in the vertical direction in the direction along the other two opposite sides of the four sides of the frame portion. Therefore, the frame portion is an overlapping portion when a plurality of trays are stacked, and is characterized in that the front and back surfaces are in surface contact with each other when a plurality of trays are stacked.
Alternatively, in the above, the tray is a base material that supports the whole, and a frame inner region is supported by a frame portion larger than the plate-like object and four sides of the frame portion, and in the frame inner region of the frame portion And a plate-like object holding part that holds the plate-like object from the lower side in a state where the plate-like object is bent downward in the vertical direction, and the plate-like object holding part has four sides of the frame part. Each of the upper surfaces of the plate-like object is curved downward, supports the edges along the four sides of the plate-like object, and supports the frame portion. In the direction along each of the four sides, the plate-like object is supported by being bent downward in the vertical direction, and the frame portion is an overlapping portion when stacking a plurality of trays, When a plurality of trays are stacked, the front and back are formed so as to be in surface contact with each other.

(Function)
The plate-like object receiving method of the present invention is configured as described above, and the plate-like object is placed and held on the upper side with the surface direction of the rectangular and rigid plate-like object being set as the horizontal direction. When receiving a plate-like object from a tray with a pin using a tray for conveyance or storage, which is used for conveyance or storage in a state where the plate-like object is placed on a tray. It is possible to provide a method for receiving a plate-like object that does not cause damage or contamination of the back surface of the plate-like object when the plate-like object is received between the tray and the support pin.
Specifically, from the tray holding the plate-like object on the upper side, the upper end of each pin of the plurality of pins is position-controlled at a height corresponding to the bending state of the plate-like object in the opening region of the tray And relatively moving at least one of the plurality of pins and the tray in the vertical direction, bringing each pin of the plurality of pins into contact with the plate-like object held in the tray, and supporting the plate-like object, Alternatively, the plate-like object is supported in a non-contact manner, and the plate-like object is separated from the tray and received by a plurality of pins while maintaining the plate-like object in the predetermined bent state. Has achieved.
The plurality of pins have a pin that moves by controlling the position in the vertical direction in accordance with the bending state of the plate-like object. It is possible to make the upper end of the pin position-controlled to a height corresponding to the bending state of the plate-like object.
In addition, in the above, the form of the invention of claim 3 in which the plurality of pins has pins that move by controlling the position in the horizontal direction in accordance with the bending state of the plate-like object.
Here, the plurality of pins are all in contact with each other to support and receive the plate-like object, and at least some of the tips of the pins are in the surface direction of the plate-like object when contacting the plate-like object. The form of the invention of claim 4 having a movable part that moves, or at least a part of the plurality of pins receives and supports a plate-like object in a non-contact manner. The tip of the pin pushes up the plate-like object by gas pressure, and supports it in a state close to the plate-like object by non-contact. It is possible to prevent the back surface of the plate-like object from being damaged and the occurrence of dirt.
In the fourth aspect of the invention, the movable part may be a rotating ball that is supported by a ball bearing and rotates.
As a material of the surface part of the movable part, a thermoplastic resin is preferable.
Examples of the plate-like material include a color filter forming substrate for a display panel or an intermediate process substrate for producing the color filter forming substrate.

By adopting such a configuration, the plate-shaped object receiving apparatus of the present invention holds the plate-shaped object placed on the upper side with the surface direction of the rectangular and rigid plate-shaped object set as the horizontal direction. When receiving a plate-like object from a tray with a pin using a tray for conveyance or storage, which is used for conveyance or storage in a state where the plate-like object is placed on a tray. It is possible to provide a plate-shaped material receiving apparatus that does not cause damage or contamination of the back surface of the plate-shaped material when the plate-shaped material is received between the tray and the support pin.
Specifically, from the tray holding the plate-like object on the upper side, the upper end of each pin of the plurality of pins is position-controlled at a height corresponding to the bending state of the plate-like object in the opening region of the tray And relatively moving at least one of the plurality of pins and the tray in the vertical direction, bringing each pin of the plurality of pins into contact with the plate-like object held in the tray, and supporting the plate-like object, Alternatively, a plurality of pins that are close to each other, support the plate-like object in a non-contact manner, and keep the plate-like object in the predetermined bent state while separating the plate-like object from the tray and receiving by a plurality of pins. With this, it is assumed that there is no damage or contamination of the back surface of the plate-like object upon receipt.
Each pin of the plurality of pins is movable in the vertical direction, the height of each tip can be controlled, and is arranged in the vertical direction. The position of the height of the tip of each pin can be controlled according to the state.
As a driving method for position control of each pin, pneumatic driving can be mentioned, but other driving methods may be used.
Further, each of the plurality of pins has a pin that moves by controlling the position in the vertical direction according to the bending state of the plate-like object. It is possible to make the upper end of the pin position-controlled to a height corresponding to the bending state of the plate-like object.
Moreover, in the above, the form of the invention of claim 11 in which the plurality of pins have pins that move by controlling the position in the horizontal direction in accordance with the bending state of the plate-like object. Specifically, each of the plurality of pins receives and supports a plate-like object, and at least a tip portion of the pin is a surface of the plate-like object when contacting the plate-like object. The form of the invention of claim 12, or at least a part of the plurality of pins is configured to support and receive a plate-like object in a non-contact manner. The tip part of the pin of the part pushes up the plate-like object by gas pressure and supports it in a state close to the plate-like object by non-contact, so that the form of the invention of claim 15 is used. In addition, it is possible to prevent the back surface of the plate-like object from being damaged and the occurrence of dirt.
In the form of the twelfth aspect of the invention, the movable part may be a rotating ball that is supported by a ball bearing and rotates.
As a material of the surface part of the movable part, a thermoplastic resin is preferable.
Examples of the plate-like material include a color filter forming substrate for a display panel or an intermediate process substrate for producing the color filter forming substrate.
This is effective when the plate-like material is a color filter forming substrate for a display panel or an intermediate process substrate for producing the color filter forming substrate.

The tray is a tray that holds and holds the plate-like object on the upper side, with the surface direction of the rectangular and rigid plate-like object being in the horizontal direction, and a plurality of trays with the plate-like object placed thereon. Examples thereof include a tray for transportation or storage that is used for transportation or storage.
Specifically, the tray is a base material that supports the whole, the frame inner region is larger than the plate-like material, and is supported by the frame portion, and in the frame inner region of the frame portion, the plate And a plate-like object holding portion that holds the shape-like object from the lower side in a state where it is bent downward in the vertical direction. The plate-like object holding portion is one of the two opposite sides of the four sides of the frame portion. Supports both ends of the plate-like object along the side and bends vertically downward in the direction along the other two opposite sides of the four sides of the frame to support the plate-like object Thus, the frame portion is an overlapping portion when a plurality of trays are stacked, and when the plurality of trays are stacked, the front and back surfaces thereof are in surface contact with each other, or a base material that supports the whole, and a frame inner region. Is supported by the frame part larger than the plate-like object and four sides of the frame part, and the plate-like object is vertically arranged in the frame inner region of the frame part. A plate-like object holding portion that is held from the lower side while being bent downward, the plate-like object holding portion has its upper surface along each side of the four sides of the frame portion, Both are curved downward, support the edges along the four sides of the plate-like object along the four sides of the frame, and on each of the four sides of the frame. The plate is bent in the vertical direction and supported in a state where the plate-like object is bent, and the frame portion is an overlapping portion when stacking a plurality of trays. The form currently formed so that the front and back may mutually surface-contact is mentioned.

As will be further described, when the plate-like object is held by the tray, the plate-like object and the plate-like object holding portion are in a predetermined positional relationship with the plate-like object being bent with respect to the frame portion. Therefore, even when a tray holding such a plate-like object is overlapped in surface contact with the frame portion, the plate-like objects can maintain the distance by the thickness of the frame.
And the plate-shaped object of each tray bends similarly, and the pitch space | interval maintains the thickness of a frame part.

The present invention, as described above, is a tray that holds a plate-like object placed on the upper side thereof with the plane direction of the rectangular and rigid plate-like object as a horizontal direction, and the plate-like object is placed thereon. When receiving a plate-like object from the tray by pin support using a tray for conveyance or storage that is used for conveyance or storage in a stacked state, the plate-like object between the tray and the support pin It is possible to provide a plate-shaped material receiving method and a plate-shaped material receiving apparatus that do not cause damage or contamination of the back surface of the plate-shaped material during reception.
In particular, a color filter forming substrate for a display panel having a functional part on one side thereof, or an intermediate process substrate for producing the color filter forming substrate is used as a plate, and the plate is held in a bent state. Using a tray, one surface of a plate-like object, for example, a surface provided with a functional part is stacked, transported and stored in a state where the plate-like objects are kept at a predetermined interval without contacting each other. Can be easily and efficiently performed, and can more reliably cope with quality.

Embodiments of the present invention will be described with reference to the drawings.
1 (b) to 1 (c) are schematic views showing an embodiment of the plate-like material receiving method of the present invention, and FIGS. 1 (a) to 1 (f) are conveyances of the plate-like material. It is the schematic which showed one example of the flow of processing,
2 (a) to 2 (f) are cross-sectional views for explaining the plate-like object receiving operation of the embodiment of the plate-like object receiving method of the present invention, and FIG. FIGS. 4 (a) to 4 (c) are diagrams illustrating an example, and FIG. 4 (a) to FIG. 4 (c) are diagrams for explaining holding and bending states by a plurality of pins, respectively, and FIG. 5 (a) to FIG. 6 (a) to 6 (d) are schematic diagrams showing the flow of processing for receiving a plate-shaped object from the tray of FIG. 6, in which FIGS. 6 (a) to 6 (d) are horizontal views of the plate-shaped object held on the tray by a plurality of pins. FIG. 7A is a schematic configuration diagram of an example of a tray that holds a plate-like object in a bent state. FIG. 7A to FIG. 7 (f) is a view for explaining stacking of the trays that hold the plate-like object in a bent state, and FIG. 8 (a) is another one of the trays that hold the plate-like object in a bent state. Example FIG. 8A to FIG. 8F are diagrams for explaining the stacking of the trays that hold the plate-like object in a bent state, and FIG. 9A to FIG. (A) is a figure for demonstrating the stacking | stacking of the tray which hold | maintains the conventional plate-shaped object horizontally.
In FIG. 1, FIG. 2, FIG. 5, and FIG. 6, a thick arrow indicates the progress direction of the process.
Moreover, in FIG. 2, FIG. 6, the dotted line has shown the horizontal direction.
7 (e), 7 (f), 9 (d), and 9 (e) are shown in a state in which the frame portion of each tray is separated for easy understanding. The frame portions are in surface contact with each other.
1 to 8, 1, 1A is a stacking portion, 10, 10A is a tray, 20 is a plate, 30 is a pin holding portion, 30a is a pin holding portion (also referred to as a second pin holding portion), and 30A is Pin holding part, 31, 31a, 31b, 31c are pins, 32 is a movable part (also called a ball), 33 is a fixing part, 34 is a tip fixing part, 35 is a shaft, 36 is an axis slide fixing part, 40 is a robot, 41 is a robot arm, 110 is a tray, 120 is a frame part, 130 is a plate-like object holding part, 130a to 130d are support parts (also called holding parts), 140 is a plate-like object, 210 is a tray, 220 is a frame part, 230 is a plate-shaped object holding part, 230a to 230d are support parts (also referred to as holding parts), 240 is a plate-shaped object, 310 is a tray, 320 is a frame part, 330 is a bottom part (supporting part), and 340 is a plate-like object. is there.

An embodiment of the plate-like material receiving method of the present invention will be described with reference to the drawings.
The method for receiving a plate-like object of this example is a rectangular shape, rigid, and holds the plate-like object, which is bent by its own weight, on the upper side in a predetermined bent state with its surface direction as the horizontal direction. A plate-like material take-out method in which a plate-like material held in the tray is taken out from the tray by using a tray. For example, the flow of the plate-like material conveyance process shown in FIGS. 1 (a) to 1 (f) Done in.
And as shown in Drawing 1 (b)-Drawing 1 (c), it is movable in the perpendicular direction from the lower side in the opening area of tray 10, from tray 10 which places plate-like object 20 on the upper side, With the plurality of pins 31 arranged two-dimensionally in the vertical direction, the plurality of pins with the upper ends of the pins being position-controlled to a height corresponding to the bending state of the plate-like object, Each pin of the pins is brought close to the plate-like object held in the tray in the vertical direction and brought into contact with it to support the plate-like object 20, or the plate-like object 20 is supported in a non-contact manner. The plate-like object 20 is received while maintaining a predetermined bent state.
Here, from the tray 10 that holds the plate-like object 20 on the upper side, a plurality of pins 31 that are movable in the vertical direction from the lower side in the opening region of the tray 10 and arranged in the vertical direction With the upper end of each pin of the pin 31 being position-controlled at a height corresponding to the bending state of the plate-like object, each pin of the plurality of pins 31 is perpendicular to the plate-like object held by the tray 10; The plate-like object 20 is received while maintaining the predetermined bent state by supporting the plate-like object 20 by bringing them relatively close to each other and supporting the plate-like object 20 in a non-contact manner.
In this example, the plurality of pins 31 are all in contact with each other to support and receive the plate-like object 20, and at least some of the tips of the pins are in contact with the plate-like object. It has a movable part movable in the surface direction.
In this example, as shown in FIG. 3, the contact portion is a ball-shaped movable portion 32 supported by a small ball bearing (not shown). It is assumed that there is no contamination.
A preferable material for the surface portion of the movable portion 32 is a thermoplastic resin. Among thermoplastic resins, ultra high molecular weight polyethylene (UHMW-PE), polyamide resins such as nylon 66 and nylon 610, polyether ether ketone (PEEK), and polyimide are particularly desirable.
By doing in this way, it is supposed that the back surface of the plate-like object can be prevented from being damaged or stained.
Examples of the plate-like material 20 include, but are not limited to, a color filter forming substrate for a display panel or an intermediate process substrate for producing the color filter forming substrate.

An example of the plate-like object receiving operation of this example will be briefly described with reference to FIG.
In addition, although the number of pins is illustrated and described here for the sake of simplicity, the present invention is not limited to this.
The height of the tip of each pin is adjusted to the predetermined bending shape of the plate-like object 20 in a state where the plate-like object and each pin shown in FIG. (Fig. 2 (b))
Here, for example, the pins 31a and 31c are raised in the vertical direction relative to the pin 31b from the state in which the tips of the pins have the same height.
Next, the pins of the plurality of pins are relatively close to the plate-like object held on the tray in the vertical direction while the height of the tip of each pin is adjusted to the predetermined bending shape of the plate-like object 20. The plate-like object 20 is supported by contact (FIGS. 2 (c) and 2 (d)), and the plate-like object 20 is pushed up to maintain the predetermined bending shape from the tray 10 while maintaining the predetermined bending shape. The plate 20 is received and the plate is supported only by the pins. (FIG. 2 (e) to FIG. 2 (f)))
In this manner, the plate-like object 20 is received by the pins 31a, 31b, and 31c from the tray 10 on which the plate-like object is placed in a predetermined bending state while maintaining the predetermined bending state.
The pins 31a to 31c may be moved to the tray 10 in the vertical direction to receive the plate-like object, or the tray 10 may be moved in the vertical direction to receive the plate-like object.

The plate-like material conveying process shown in FIG. 1 is a rectangular shape, rigid, and the plate-like material 20 is bent from its tray 10 on which the plate-like material 20 is placed, with the surface direction of the plate-like material 20 being bent by its own weight being the horizontal direction. In the process of receiving and transporting the object 20, as shown in FIGS. 1 (a) to 1 (f), a plate 10 is used in order to hold the plate-like object 20 on the upper side in a bent state. A state in which the trays 10 on which the plate-like objects 20 are placed are taken out one by one from the upper side of the stacking portion 1 where a plurality of the trays 10 on which the like-like objects 20 are placed are stacked, and the plate-like objects 20 are bent together with the trays 10. Thus, from the vertical direction, from the lower side, each pin 31 is received by a pin holding portion 30 held by a plurality of pins 31 whose position is controlled to a height corresponding to the bending state of the plate-like object 20, and the plate-like object 10 is received. The tray 10 is removed from the plate-like object 20 while keeping the bent state of The first plate-shaped object receiving step for receiving only the object 20 in a bent state, and the plate-shaped object 20 mounted on the pin holding unit 30 is horizontally mounted on the robot arm 41 to be received and transported. The robot arm carrying step includes a series of plate-like object receiving processes.
In this example, after completion of the reception of the plate-like object 20 by the pin 31, the transfer of the plate-like object 20 downstream is performed by the robot 40. For example, a conveyor (not shown) is provided below the pin 31. May be arranged, and after receiving the plate-like object 20 by the pin 31, it may be transferred downstream by a conveyor.

The plate-like material conveyance process shown in FIGS. 1 (a) to 1 (f) and the plate-like material receiving method of this example shown in FIGS. 1 (b) to 1 (c) will be further described.
First, the stack unit 1 is formed by stacking a plurality of trays 10 on which the plate-like object 20 is bent in a state where the tray 110 shown in FIG. 7A or the tray 210 shown in FIG. Have it ready. (Fig. 1 (a))
Next, the trays 10 placed in a state where the plate-like objects 20 are bent are taken out one by one from the upper side of the stacking portion 1 and held by a predetermined holder, and the plate-like objects 20 are bent together with the trays 10. From the vertical direction, the pin 31 is received by the pin holding portion 30 that holds the plurality of pins 31 whose positions are controlled to the height corresponding to the bending state of the plate-like object 20 (see FIG. 1 (b)), the tray 10 is removed from the plate-like object 20 while keeping the bent state of the plate-like object 10, and only the plate-like object 20 is received in a bent state. (Fig. 1 (c))
Here, as described above, the plurality of pins 31 are all in contact with each other to support and receive the plate-like object 20, but are not limited thereto.
For example, at least a part of the plurality of pins 31 receives and supports the plate-like object 20 in a non-contact manner, and the tip part of the at least some pins pushes up the plate-like object 20 by gas pressure, The form which supports in the state which adjoined the plate-shaped object by non-contact is also mentioned.
Even in such a form, it is possible to reliably prevent the back surface of the plate-like object from being damaged and the occurrence of dirt.

The take-out of the tray on which the plate-like object is placed from the stacking unit 1 in FIG. 1A is not particularly limited. For example, a tray having a suction unit along the side of the frame unit, There is a form to use.
In the case of a form using a robot arm, for example, as a tray, a conveyance support part (not shown) protruding outside the frame part is provided along two opposing side parts of the tray. Use a robot arm to support the transfer support with the robot arm and lift the tray.
Here, from the upper side of the stacking unit 1, the trays 10 placed in a state where the plate-like object 20 is bent are held and taken out one by one with a predetermined holder, but stacked on the middle stage of the stacking unit 1. There is also a form in which the trays on which the plate-like objects 10 are placed are taken out one by one.
Next, the plate-like object 20 mounted on the pin holding unit 30 is left in a bent state (FIG. 1D) or in a horizontal state (FIG. 1E), and the robot arm 41 is moved. It is mounted horizontally on the top (FIG. 1 (f)) and transported.
Here, the reason why the object on the plate that is bent and held on the tray is held horizontally by a plurality of pins is because it is easy to receive the robot arm 41, and although not shown, The pin is moved relatively up or down, but in order to prevent scratching due to rubbing at the contact point between the top of the pin and the back of the plate during the movement, A ball 32 that can be rotated by a ball bearing support is provided as a movable part at the top of the upper side, and its surface material is a thermoplastic resin.
In this way, a receiving process is performed in which the plate-like object 20 is received from the stacked portion 1 together with the tray 10 and further the plate-like object 20 is received from the tray 10.
1A to 1F, the plate-shaped object is mounted on the robot arm 41, and the plate-shaped object is received from the pin holding unit 30 to the robot arm 41. Pass, but not limited to this.
For example, there is also a form in which a belt-shaped object is brought into contact from the lower side and a plate-shaped object is transferred from the pin holding part 30 to the belt-shaped object.

Here, the stacking of the tray 10 and the tray on which the plate-like object is placed will be described.
As the tray 10, for example, a plate-like tray (hereinafter also referred to as a plate-like tray) 110 of the first example as shown in FIG. 7A is used.
The plate-like object tray 110 of the first example is a tray 110 that holds the plate-like object 140 placed on the upper side thereof, with the surface direction of the rectangular and rigid plate-like object 140 being the horizontal direction, and This is a transport or storage tray that is used for transport or storage in a state where a plurality of plate-like objects 140 are placed thereon, and is a base material that supports the whole. And a plate-like object holding part 130 that is supported by the frame part 120 and holds the plate-like object 140 from the lower side in a state of being bent downward in the vertical direction in the frame inner region of the frame part 120. It is a thing.
The plate-like object holding unit 130 includes support parts 130a, 130b, 130c, and 130d that are in contact with and supported by the plate-like object 140, and two opposite sides of the four sides of the frame part 120 by the support parts 130b and 130d. So that both ends of the plate-like object 140 are supported along the four sides of the frame portion and bent downward in the vertical direction in the direction along the other two opposite sides of the four sides of the frame portion by the support portions 130a and 130c. The shape 140 is supported.
The plate-like object holding portion 130 is curved so as to follow the bending of the plate-like object 140 to be held. In this example, the curved shape is close to the bending shape in the bending direction due to the weight of the plate-like object. Each support portion 130 a, 130 b, 130 c, 130 d is formed along the plate-like object 140.
The frame portion 120 is an overlapping portion when a plurality of trays 110 are stacked, and is formed such that the front and back of the tray 110 come into surface contact with each other when stacking a plurality of trays 110. In each side, the front and back surfaces are flat, and the front and back surfaces of each side are located on one plane.
Further, in the tray for the plate-like object of the first example, the plate-like object holding unit 130 is disposed only on the peripheral portion of the plate-like object 140 to be held and supports the peripheral portion of the plate-like object 140. The region corresponding to the inner region of the plate-like object 40 to be held is an opening.
The tray 110 of the first example can be in a state where the plate-like object 140 is bent by such a configuration, and one surface of the plate-like object, for example, a surface provided with a functional part is brought into contact with the other. In addition, the plate-like objects can be stacked, transported and stored easily while maintaining a predetermined interval.
Although the plate-like object holding part 130 is not shown here, the shape of the plate-like object holding part 130 is a shape along the plate-like object 140, and the thickness of the plate-like object holding part 130 is required to be thinner than the thickness of the frame part 120, and some bending is caused. It is preferable that the thickness of the frame portion 120 is sufficiently thinner in consideration of the variation and vibration of the frame portion 120.
Note that the frame portion 120 is preferably made of a material having a high strength and a light weight, such as aluminum.
Each of the support parts 130a to 130d of the plate-like object holding part 130 is also preferably a material having a high strength and a light weight. For example, a cushioning material is used for a portion that contacts the plate-like object 140 using aluminum as a base material. The form to provide is preferable.

When the plate-like object 140 is held by such a tray 110, the plate-like object 120 and the plate-like object holding unit 130 are in a predetermined positional relationship with respect to the frame part 120 in a state where the plate-like object 120 is bent. Therefore, even if the tray 110 holding the plate-like object 140 of such a unit is overlapped in surface contact with the frame portion 120, the plate-like objects are spaced apart by the thickness of the frame. It can be maintained.
Thus, what piled up the plate-shaped object is equivalent to the stacking part shown to Fig.1 (a).
When the trays are stacked in this way, that is, when stacking portions are formed, although not shown here, for example, a shape that fits the shape of the frame portion 120 and is open inside A dedicated pedestal or a shape corresponding to the frame portion 120 of the tray is used as the pedestal.

Furthermore, when the plate-like object tray 110 according to the first example is used, the stacking of the plate-like object 140 and the stack of the trays 110 on which the plate-like object 140 is mounted are shown in FIGS. A brief description will be given based on this.
First, the plate-like object tray 110 of the first example is prepared (FIG. 7A), and the plate-like object 140 is formed in a plate-like shape so that the peripheral portion thereof is placed on each of the support portions 130a to 130d. When placed on the object holding part 130, the plate-like object 140 is supported at both ends by the support parts 130b and 130d so as to be along two opposite sides of the four sides of the frame part 120. The support portions 130a and 130c are supported by being bent downward in the vertical direction in the direction along the other two opposite sides of the four sides of the frame portion in a state along the support portions 130a and 130c. (FIG. 7 (b) to FIG. 7 (c))
In this way, the plate-like object 140 is mounted on the tray 110 in a bent state.
Next, in this way, two trays on which the plate-like object 140 shown in FIG. 7C is mounted are overlapped (FIG. 7E), and the plate-like object 140 shown in FIG. The mounted trays are stacked (FIG. 7f), and the three are in a stacked state.
The frames are stacked in surface contact.
In this way, the layers are sequentially stacked.
Alternatively, the same tray on which the plate-like object 140 is not mounted is placed on the upper side of the tray on which the plate-like object 140 shown in FIG. 7 (c) is mounted. It is placed on the plate-like object holding part 130 so that the peripheral part is placed on each of the support parts 130a to 130d, and two trays on which the plate-like objects 140 are mounted are stacked. (Fig. 7 (e))
Furthermore, on this, the same tray on which the plate-like object 140 is not mounted is placed, and further, the plate-like object 140 is similarly placed thereon so that the peripheral portion thereof is placed on each of the support portions 130a to 130d. It is placed on the plate-like object holding part 130 to obtain a stack of three trays on which the plate-like objects 140 are mounted. (Fig. 7 (f))
In this way, the layers are sequentially stacked.

As the tray 10, for example, a plate-like tray (hereinafter also referred to as a plate-like tray) 210 of the second example as shown in FIG. 8A is used.
Similarly to the plate-like object tray 210 of the first example, the second plate-like object tray 210 also has the plate-like object 240 as a horizontal direction with the surface direction of the rectangular and rigid plate-like object 240 as the horizontal direction. A tray 210 for holding on the upper side, and a tray for transportation or storage that is used for transportation or storage in a state where a plurality of plate-like objects 240 are placed thereon. The inner region is supported by the frame part 220 larger than the plate-like object and the four sides of the frame part 220. In the frame inner area of the frame part 220, the plate-like object 240 is bent downward in the vertical direction. A plate-like object holding part 230 that is held from the side is provided.
In the second plate-like object tray 210, the plate-like object holding portion 230 includes four support portions 230 a, 230 b, 230 c, and 230 d along the four sides of the frame portion 220, and each of the four sides of the frame portion 220. The upper surfaces along the sides are all curved downward, and support the end portions along the four sides of the plate-like object 240 so as to follow the four sides of the frame portion 220, and In the direction along each of the four sides of the frame portion 220, the plate-like object 240 is supported in a bent state by bending downward in the vertical direction.
Although the plate-like object holding unit 230 is curved so as to follow the bending of the plate-like object 240 to be held, for example, although not shown, the curved shape is arranged on the diagonal of the plate-like object 240. When only two corner portions are supported, the shape is close to the bent shape due to the weight of the plate-like object, and is curved along the plate-like object 240. Each of the support portions 230a, 230b, 230c, and 230d is the plate-like object 240. The plate-like object 240 is supported along the line.
The frame portion 220 is an overlapping portion when a plurality of trays 210 are stacked, and is formed such that the front and back of the trays 210 are in surface contact with each other when stacking a plurality of trays 210. Each of the four sides has a shape along a curve along each side of the plate-like object holding unit 30.
In addition, the plate-like object holding unit 230 is disposed only in the peripheral portion of the plate-like object 240 to be held, supports the peripheral portion of the plate-like object 240, and is an internal region of the plate-like object 240 to be held. The area corresponding to is an opening.
About the material of each part, the thing similar to the tray 110 for plate-like objects of a 1st example is used.

Furthermore, when the plate-like object tray 210 of the second example is used, the mounting of the plate-like object 240 and the stacking of the tray 210 on which the plate-like object 240 is mounted are shown in FIGS. 8 (a) to 8 (d). A brief explanation based on the above.
A plate-like object tray 210 of the second example is prepared (FIG. 8A), and the plate-like object 240 is placed on the respective support parts 230a to 230d so that the peripheral part of the plate-like object 240 is placed on the respective support parts 230a to 230d. The plate-like object 240 is supported by the four support portions 230a, 230b, 230c, and 230d at the ends of the sides along the four sides of the frame portion 220, and The frame portion 220 is supported while being bent downward in the vertical direction in the direction along each of the four sides of the frame portion 220. (FIGS. 8B to 8C)
In this way, the plate-like object 240 is mounted on the tray 210 in a bent state.
Next, in this way, the trays on which the plate-like objects 240 shown in FIG. 8C are mounted are sequentially stacked with their frame portions 220 in surface contact with each other. (Fig. 8 (d))
In this way, stacking of trays on which plate-like objects are placed with the frame portions in surface contact is performed.
Also in this case, actually, it is superposed on a pedestal (not shown) and transported or the like.

Here, mounting and stacking of plate-like objects according to an example of a conventional tray will be briefly described with reference to FIG.
As shown in FIG. 9A, the frame portion 320 is an overlapping portion and a bottom portion (support portion) 330 on which a plate-like object is mounted. The bottom portion (support portion) 330 is fixed to the frame portion. 320 is a strong plate-like material that covers the entire region inside the frame, and even if a plate-like object is mounted horizontally on it, it does not bend due to its own weight.
In the case of this conventional tray, for example, a plate in which a plate-like object is mounted on the bottom 330 in a horizontal state is sequentially stacked on the frame (FIGS. 9A to 9C), Two trays on which the objects are mounted are overlapped (FIG. 9 (d)) and tripled (FIG. 9 (e)).
In this way, the desired number of stacks is obtained, but in this conventional tray, the plate-like object is just mounted on the bottom, and is displaced by vibrations such as transportation, so that the functional surface comes into contact. In some cases, the ends may be damaged due to scraping or dust may be generated, resulting in quality problems.
In contrast, the plate-like object tray 110 of the first example and the plate-like object tray 210 of the second example are both mounted in a state of being bent downward in the vertical direction. It is possible to reduce the floating of the plate-like object due to vibrations at the time, and to eliminate such quality problems.

When the conventional tray 310 that is held horizontally as shown in FIG. 9 (a) is used, the trays 10A on which the plate-like objects 20 are placed are stacked horizontally, but FIGS. 5 (a) to 5 (d). As shown in FIG. 1, basically, the plate-like object is received in the horizontal state in the same manner as the case of receiving the plate-like object shown in FIG.
Although not explicitly shown in the tray shown in FIG. 9A, pin operation can be performed.

In the case of the tray shown in FIG. 7 (a) or FIG. 8 (a), the tray 10 (110 in FIG. 7 and FIG. 8 in FIG. The plate-like object 20 is received from the pin 31 of the pin holding portion to the pin 31 in a horizontal state.
For this reason, at the time of receiving, the plate-like object 20 and the plate-like object holding portion of the tray 10 (corresponding to 130 in FIG. 7 and 230 in FIG. 8) are rubbed, which causes generation of scratches and dirt.
In the receiving process of this example shown in FIG. 1 (FIGS. 1B to 1C), such a rubbing between the plate-like object 20 and the plate-like object holding portion of the tray 10 does not occur.

In addition, although it may be mounted in a pin holding part by the bending condition of a plate-shaped object as shown to FIG. 4 (a), FIG.4 (b), although not illustrated about these bending conditions, the above-mentioned In the first plate-like object tray 110, for example, the downward bending of the support portions 130a and 130c (see FIG. 7) is matched, and further, the belt-like support portions having such a curved shape are combined with the support portions 130b and 130d. It can respond with the modification (not shown) of the 1st tray for plate-like objects arranged so that it may straddle.
Further, the plate-like object may be placed on the pin holding portion as shown in FIG. 4C, but this bending condition can be handled by the second plate-like object tray 210. .

As an example of the plate-shaped object receiving device of the present invention, a pin holding portion (corresponding to 30 in FIG. 1) having a plurality of pins for performing the receiving process shown in FIG. 1 (b) to FIG. 1 (c) above. ), But the above description is substituted for the description.

1 (b) to 1 (c) are schematic views showing an embodiment of the plate-like material receiving method of the present invention, and FIGS. 1 (a) to 1 (f) are conveyances of the plate-like material. It is the schematic which showed one example of the flow of a process. FIG. 2A to FIG. 2F are cross-sectional views for explaining the plate-shaped object receiving operation of the embodiment of the plate-shaped material receiving method of the present invention. It is the figure which showed one example of the front-end | tip part of a pin. FIG. 4A to FIG. 4C are diagrams for explaining holding and bending states by a plurality of pins, respectively. FIG. 5A to FIG. 5D are schematic diagrams showing the flow of processing for receiving a plate-shaped object from a conventional tray. FIG. 6A to FIG. 6D are diagrams for explaining the movement of a pin when a conventional plate-like object bent and held on a tray is horizontally held by a plurality of pins. FIG. 7A is a schematic configuration diagram of an example of a tray that holds a plate-like object in a bent state, and FIGS. 7A to 7F hold the plate-like object in a bent state. It is a figure for demonstrating stacking of this tray. FIG. 8A is a schematic configuration diagram of another example of a tray that holds a plate-like object in a bent state, and FIGS. 8A to 8F show a state in which the plate-like object is bent. It is a figure for demonstrating stacking of this tray to hold | maintain. FIG. 9A to FIG. 9E are views for explaining stacking of conventional trays for horizontally holding a plate-like object.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1, 1A Stacking part 10, 10A Tray 20 Plate-like object 30 Pin holding part 30A Pin holding part 31, 31a, 31b, 31c Pin 32 Movable part (also called a ball)
33 fixing portion 34 tip fixing portion 35 shaft 36 axis slide fixing portion 40 robot 41 robot arm 110 tray 120 frame portion 130 plate-like object holding portions 130a to 130d supporting portions (also referred to as holding portions)
140 plate-like object 210 tray 220 frame part 230 plate-like object holding part 230a to 230d support part (also referred to as holding part)
240 Plate 310 310 Tray 320 Frame 330 Bottom (Support)
340 Plate

Claims (19)

  A plate that is rectangular and rigid, and that is bent by its own weight, is placed on the upper side in a predetermined bent state with the surface direction as the horizontal direction, and is held by the tray. A plate-shaped object receiving method for taking a sheet-shaped object out of the tray, wherein the upper end of each pin of the plurality of pins is a plate-shaped object in the opening region of the tray from the tray holding the plate-shaped object on the upper side. A plate in which at least one of the plurality of pins and the tray is moved relative to each other in the vertical direction while the position is controlled to a height corresponding to the bending state of the plurality of pins, and each pin of the plurality of pins is held by the tray. The plate-like object is supported by bringing it into contact with the plate-like object, or is brought close to it to support the plate-like object in a non-contact manner, and the plate-like object is maintained in the predetermined bent state. Board that is separated from the tray and is received by multiple pins How to receive the goods.   The method for receiving a plate-like object according to claim 1, wherein the plurality of pins have pins that move by controlling the position in the vertical direction in accordance with the bending state of the plate-like object. To receive the plate.   3. The plate-shaped object receiving method according to claim 1, wherein the plurality of pins include pins that move by position control in a horizontal direction in accordance with a bending state of the plate-shaped object. A method for receiving a plate-like object characterized by being a thing.   The plate-shaped object receiving method according to any one of claims 1 to 3, wherein all of the plurality of pins are in contact with each other to receive and support the plate-shaped object. A method for receiving a plate-like object, wherein the tip has a movable part that moves in the surface direction of the plate-like object when contacting the plate-like object.   5. The plate-shaped object receiving method according to claim 4, wherein the movable portion is a rotating ball that is supported by a ball bearing and rotates.   6. The plate-shaped object receiving method according to claim 4, wherein a material of a surface portion of the movable part is a thermoplastic resin.   The plate-shaped object receiving method according to any one of claims 1 to 3, wherein at least some of the plurality of pins receive and support the plate-shaped object in a non-contact manner. A method for receiving a plate-like object, wherein the tip of some pins pushes up the plate-like object by gas pressure and supports the pin-like object in a state of being close to the plate-like object by non-contact.   The plate-shaped material receiving method according to any one of claims 1 to 7, wherein the plate-shaped material is used for producing a color filter forming substrate for a display panel or the color filter forming substrate. A method for receiving a plate-like material, which is an intermediate process substrate.   A plate that is rectangular and rigid, and that is bent by its own weight, is placed on the upper side in a predetermined bent state with the surface direction as the horizontal direction, and is held by the tray. A plate-shaped object receiving device for removing a sheet-shaped object from the tray, wherein an upper end of each pin of the plurality of pins is a plate-shaped object in the opening area of the tray from the tray that holds the plate-shaped object on the upper side. A plate in which at least one of the plurality of pins and the tray is moved relative to each other in the vertical direction while the position is controlled to a height corresponding to the bending state of the plurality of pins, and each pin of the plurality of pins is held by the tray. The plate-like object is supported by bringing it into contact with the plate-like object, or is brought close to it to support the plate-like object in a non-contact manner, and the plate-like object is maintained in the predetermined bent state. Moves in the vertical direction, away from the tray and receives, with the height of each tip There can position control, arranged in the vertical direction, the platelet receiving apparatus characterized in that it comprises a plurality of pins.   10. The plate-shaped object receiving apparatus according to claim 9, wherein the plurality of pins have pins that move while controlling the position in the vertical direction in accordance with the bending state of the plate-shaped object. Plate receiving device.   The plate-shaped object receiving device according to any one of claims 9 to 10, wherein the plurality of pins include pins that move by position control in a horizontal direction in accordance with a bending state of the plate-shaped object. A receiving device for a plate-like object characterized by being a thing.   The plate-shaped object receiving device according to any one of claims 9 to 11, wherein each of the plurality of pins receives and supports the plate-shaped object, and at least some of the pins The front end portion has a movable portion that moves in the surface direction of the plate-like object when contacting the plate-like object.   The plate-shaped material receiving apparatus according to claim 12, wherein the movable part is a rotating ball that is supported by a ball bearing and rotates.   The plate-shaped material receiving apparatus according to any one of claims 12 to 13, wherein a material of a surface portion of the movable portion is a thermoplastic resin.   The plate-shaped object receiving device according to any one of claims 9 to 11, wherein at least some of the plurality of pins receive and support the plate-shaped object in a non-contact manner. A receiving device for a plate-like object, wherein the tip of some pins pushes up the plate-like object by gas pressure and supports the pin-like object in a state of being close to the plate-like object by non-contact.   The plate-shaped material receiving device according to any one of claims 9 to 15, wherein the plate-shaped material is used for manufacturing a color filter forming substrate for a display panel or the color filter forming substrate. A receiving device for a plate-like object, being an intermediate process substrate.   The plate-shaped object receiving device according to any one of claims 9 to 16, wherein the tray is a rectangular and rigid plate-shaped object in a horizontal direction, and the plate-shaped object is Receipt of a plate-like object characterized in that it is a tray that is placed on and held on the upper side and is a tray for transportation or storage that is used for transportation or storage in a state where a plurality of the plate-like objects are placed thereon. apparatus.   The plate-shaped object receiving device according to claim 17, wherein the tray is a base material that supports the whole, and a frame inner region is supported by the frame part, the frame part having a larger inner area than the plate-shaped object, In the frame inner region of the frame portion, the plate-like object is provided with a plate-like object holding part that holds the plate-like object from the lower side in a state of being bent downward in the vertical direction. The two ends of the plate-like object are supported along one opposing two sides of the four sides of the portion, and bent downward in the vertical direction in the direction along the other two opposing sides of the four sides of the frame portion. The plate-like object is supported, and the frame portion is an overlapping portion when a plurality of trays are stacked, and is formed such that the front and back of the tray are in surface contact with each other when stacking a plurality of trays. A plate-shaped object receiving device.   18. The plate-shaped object receiving apparatus according to claim 17, wherein the tray is a base material that supports the whole, and a frame inner region is supported by a frame part larger than the plate-shaped object and four sides of the frame part. And a plate-like object holding part that holds the plate-like object from the lower side in a state where the plate-like object is bent downward in the vertical direction in the frame inner region of the frame part. The upper surface along each side of the four sides of the frame is curved downward, and along the four sides of the plate-like object, along the four sides of the frame. The end portion is supported and bent in the vertical direction in the direction along each of the four sides of the frame portion to support the plate-like object in a bent state. Receiving a plate-like object, wherein the front and back surfaces are in surface contact with each other when a plurality of trays are stacked. Apparatus.